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By L. L. Seigle

Free energies, heats, and entropies of mixing of solid Fe-Au alloys have been measured by the galvanic cell method between 800° and 900°C. A positive deviation from Raoult's law and a large excess entropy of mixing were observed, both attributable to lattice distortion caused by the disparity in component atom sizes. Since the terminal solid solutortiontions are not regular, thermodynamic properties computed from the location of the mis-cibility gap do not agree well with measured quantities. The electromotive force data suggest some changes in the existing Fe-Au phase diagram. ALTHOUGH a considerable amount of information has been accumulated about the thermodynamic properties of metal solid solutions which exhibit negative deviation from Raoult's law, particularly those in which ordering occurs, relatively few experimental measurements have been made on solutions with positive deviation. This is due to the infrequency of broad homogeneous regions suitable for experimental measurement in solutions of this type, since any marked positive deviations from ideality lead to restricted solubility and the formation of miscibility gaps. Thermodynamic data reported in the literature for such systems have usually been calculated from the location of the miscibility gap boundaries under the assumption that the entropies of mixing are ideal, i.e., the terminal solutions are regular.' One of the few binary systems with both positive deviation and a wide homogeneous range in the solid is the Ni-Au system. A recent investigation of solid Ni-Au alloys' revealed that the entropies of mixing were much larger than ideal and consequently thermal data computed from the phase boundaries assuming regular solutions were seriously in error. Theoretical considerations put forward by Zener indicated that high entropy values should generally be associated with systems possessing a miscibility gap in the solid, when this is due to differences in the size of component atoms. These facts suggest that the regular solution assumption is a poor approximation for many solid solutions with positive deviation and that reliable thermodynamic data generally cannot be obtained by conventional methods from the location of miscibility gap boundaries. The Fe-Au system, Fig. 1, resembles the Ni-Au system in certain respects. The presence of a miscibility gap in the solid indicates a large positive deviation from ideality, but there is nevertheless an extensive single phase region suitable for experimental measurement. The following investigation of solid Fe-Au alloys was carried out in order to obtain additional data on the thermodynamic properties of metal solid solutions with positive deviation from Raoult's law and to further compare thermodynamic data computed from miscibility gap boundaries with those measured experimentally. Experimental Method The thermodynamic properties were derived from measurements of the potential developed between pure solid iron and Fe-Au alloys in a high temperature galvanic cell. The experimental apparatus and technique were the same as those used for the Ni-Au alloys and described in a previous report.' Cell electrodes were 1/16 in. diam rods swaged from chill-cast ingots and annealed for one week at 850°C. The alloys were prepared by melting fine gold granules under argon with pure iron obtained from the National Research Co. The cell electrolyte was

Jan 1, 1957

By CLARENCE WM. POY

THE most common difficulty faced by an engineer or mine operator when opening a new property in a new field is the lack of roads and of cheap transportation. This one item often swings the balance of success or failure in starting a project. In Alaska, as elsewhere, such problems are more or less serious. In the boom days around the Valdez district, as well as in other parts of this territory, freighting was accom¬plished by dog teams or horses, or even by men that were willing to put their shoulders into harness, because there were virtually no roads. More important, there was only one time when supplies could be transported, and that was when there was suffi¬cient snow on the ground following a heavy wind. Then, and only then, could one depend on the snow to support horses and sleighs, and be sure that the gulleys, streams, and crevices in the glaciers were filled with snow to avoid pitfalls. These methods were used when one had no roads, no streams in the summer to float a barge, or even a trail for a pack train. If the snow was deep and soft, trans

Jan 1, 1935

By J. P. Landriault, F. W. Harrison

"Zinc-iron alloy coatings can be produced by either thermally alloying hot-dipped galvanized steel or by electro deposition. Stelco Inc. produces a thermally alloyed Zn-Fe alloy-coated steel, which is mechanically wiped to remove free zinc.A more extensive use of Zn-Fe alloy-coated steel has been predicted for unexposed autobody and structural part applications, since this material is characterized by good spot weldability and formability, and provides superior corrosion resistance under automotive primers.This investigation has examined the coating composition, corrosion resistance, spot weldability and formability of Stelco's Zn-Fe alloy-coated steel and found its properties to be similar to those of Zn-Fe alloy-coated steel produced by post coating annealing.IntroductionRecently, there has been increased automotive interest in galvanneal, which is characterized by good spot weldability, good paintabilityt and good corrosion resistance when primed. Stelco produces a thermally alloyed zinc-iron coated sheet product similar to galvanneal. However, this product is produced by mechanically wiping the free zinc from the surface of hotdip galvanize to expose the underlying zinc-iron alloy.The surface of Stelco zinc-iron alloy-coated sheet is matte gray and has longitudinal streaks which result from contact with Kevlar wipers during production (Fig. I). This paper describes the coating composition, corrosion resistance, weldability, formability and surface appearance of Stelco zinc iron alloy coatings and, wherever possible, compares these properties to those of galvanneal."

Jan 1, 1987

Well designed and maintained haul roads are the key to minimising truck haulage on-road hazards and costs, as well as increasing productivity. However, practically designing and managing a haul road for optimal performance is often diff cult to achieve. Poorly designed and built roads exhibit high rolling resistance - a one per cent increase in road rolling resistance can typically reduce speed on ramp by as much as ten per cent - and on the f at by up to 26 per cent. In the current economic climates, investment and operating decisions come under scrutiny. In the long run, this scrutiny returns improved efficiencies and leaner, healthier operations. The focus of this evolving evaluation process should and will certainly fall on haulage operations - simply by virtue of their contribution to overall cost of operations - often in excess of 50 per cent of total costs for deep open-pit mines. Whilst the end result - improved efficiency and reduced cost per ton hauled - is not in itself problematic, it is the route, or process followed to achieve these savings that needs to be carefully managed. We can be guided on this journey by our understanding of how a road is designed, and, critically, the interplay between a good design and safe, cost efficient haulage.This paper brief y summarises the evolution of mine haul road design, from the seminal USBM work of Kaufman and Ault in 1977, through to current geometric, structural, functional and maintenance management design components. These augmented design and management guidelines have been developed over the past decade, both in response to the requirements of mine operators for more safe and efficient haulage systems, and the truck manufacturers' requirements for a more predictable and controlled operating environment. These developments have been paralleled by the need to minimise haulage hazards, both from a health and safety perspective. Generally, both objectives have been achieved, but with some specific areas of design and operation still presenting ongoing potential health and safety hazards.The paper then summarises current design guidelines for these safety-critical issues, both from a road-design 'best-practice' and road management perspectives. Implementation of the approach is seen as a basis for reducing the potential of an under-designed mine road to lead to health and safety defects and secondly as a means of giving haul road safety and performance issues greater prominence in the minds of the road-user, operator, mine planner and designer alike.

Dec 6, 2010

Effect of Anionic Surfactant on Silica Particle Attachment at the Oil-Water Interface Controlling particle attachment is crucial where powdered solids come into contact with oil and water. Particles are trapped in a deep energy well at the oil-water interface, stabilising emulsions. Here it is shown that adding anionic surfactant causes dramatic changes to the bulk and interfacial structure of silica particle-stabilised oil-in-water emulsions. Exposing particle-stabilised drops to surfactant concentrations above the critical micelle concentration enhances the rate and extent of creaming and flocculation. Mixing particle-stabilised emulsions with surfactant solutions causes drop fragmentation. As the surfactant concentration increases, the average drop size decreases and particles are displaced from the interface during the mixing process.

Sep 13, 2010

By T. C. Eisele

The use of column flotation was considered for the ?reverse flotation? of iron ore, where the gangue (quartz) was recovered in the froth product. This use of the froth for carrying the gangue mineral rather than carrying the valuable concentrate significantly changes the operational requirements of the column. The objective of this work was to determine which of several column flotation technologies would be most suitable for this type of flotation operation. Studies were carried out using both the Jameson column and the Deister column. Comparative results are presented that show the capabilities of both column types in this application relative to conventional Wemco flotation cells. Columns were demonstrated to have grade-recovery performance superior to what could be achieved with conventional cells. Two-stage flotation with the columns could produce a concentrate that was up to 70.2% Fe at 87.5% iron recovery, compared to 70.4% Fe at only 77.7% iron recovery for four stages of flotation in conventional cells. It was shown to be particularly important to operate the columns to recover a maximum of the quartz gangue into the froth. It was noted that there are often problems in scale-up of laboratory columns to plant scale, because the increase in height and the decrease in the ratio of height to diameter at the larger scale allows more axial mixing and bubble coalescence, both of which degrade the column performance. Horizontal baffling was shown to improve column performance by reducing axial mixing and breaking up large bubbles, and so the use of such baffles in the reverse flotation application was investigated.

Jan 1, 2007

By Tim Hurley

On Friday, May 27, 1983 at about 6 p.m., an avalanche occurred at the Revenue-Virginius Mine. Six mine personnel and two contract diamond drillers were trapped when the avalanche covered and blocked the portal, the only access into the mine. The San Juan Mountain Range in southwestern Colorado is an old volcanic caldera. It has dikes and other intrusions, many of which are mineralized with sulfide ores rich in silver, gold, lead, zinc and copper. Several peaks rise above 4,260 m (14,000 ft) and the district has been the location of avalanches dating back to prehistoric times. This is evidenced by the numerous snow-slide chutes that are infamous enough to be named on topographic maps.

Jan 1, 2006

By J L. Lett, I Brunton, T Thornhill

Block cave fragmentation has been documented in the literature to have a significant impact on mine design, performance and downstream material handling and comminution processes. Due to this impact, emphasis is placed on the premining prediction and subsequent quantification of primary and secondary fragmentation distribution. This paper discusses the fragmentation prediction and assessment methodology employed at the Ridgeway Deeps (RWD) and Cadia East PC1 (CEPC1) cave operations.Prediction of drawpoint fragmentation was based on an iterative process, which relied on an improved quantitative and qualitative understanding of the rock mass as the mining project developed. In particular, the collection of scanline mapping data provided detailed information in relation to discontinuity trace length, persistence, termination characteristics and large-scale planarity. This allowed an improved estimation of select modelling input parameters, in particular ‘block forming’ discontinuity orientation and strength characteristics.With the start of production, drawpoint fragmentation assessment was undertaken using digital image processing (DIP) techniques for drawpoint extracted tonnes up to 61 000 t. This technique provided a consistent methodology to estimate changes in fragmentation as the block cave matured. It can generally be concluded that the measured mean fragmentation distribution became finer as drawpoint tonnage increased. The incremental change in fragmentation distribution (per 10 000 t) was not uniform, with step changes evident. In addition, for a given geotechnical domain and drawpoint tonnage, the measured fragmentation distribution range was found to vary significantly. A possible explanation for these observations may relate to the disturbed flow behaviour noted from marker experiments at RWD and CEPC1. These experiments indicate that material reporting at the drawpoints (for any given tonnage extracted) may be sourced from highly variable heights within the cave, with finer material preferentially reporting.A comparison between predicted and measured drawpoint fragmentation distribution indicated two general findingsa close match between predicted and measured distributions for material greater than 1.0 m3an under prediction of finer material passing 0.5 m3 relative to measured.The findings would indicate that the fragmentation modelling frameworks utilised at both RWD and CEPC1 were deficient at predicting the percentage of finer material for both primary and secondary fragmentation.The wide range in fragmentation distributions observed in the measured results, and the discrepancy between modelled and measured fines should be considered in the design of mine (material flow, extraction level geometry and draw rate), material handling (crushing and material movement), and downstream milling (comminution and metal recovery) processes for future block cave mines at the Cadia Valley Operations (CVO). With respect to fragmentation distribution range, a sensitivity analysis should be undertaken for these design considerations, with a range in predicted fragmentation distributions investigated (for example, lower quartile, mean and upper quartile). For future mines with similar geotechnical and mining conditions, the calibration of fines should be considered in any fragmentation distribution prediction to match those measured previously.CITATION:Brunton, I, Lett, J L and Thornhill, T, 2016. Fragmentation prediction and assessment at the Ridgeway Deeps and Cadia East cave operations, in Proceedings Seventh International Conference and Exhibition on Mass Mining (MassMin 2016), pp 151–160 (The Australasian Institute of Mining and Metallurgy: Melbourne).

May 9, 2016

By James J. Neate

The augered cast-in-place pile system came into use in the late 1940's where various techniques were tried using pressure grouting methods. In the early development stages some piles were installed using the preplaced aggregate concrete system. As development continued it became more apparent that placement of coarse aggregate was more costly than making a pile out of a cement and sand mixture only. Various techniques were tried consisting of pumping structural grout into an open hole through a pipe left in the bottom of the hole, drilling or driving a pipe in close proximity to the tip elevation of the auger or in working a pipe down adjacent to the auger fluting. For these techniques the pipe was usually withdrawn after grout appeared at the surface. In 1951 a patent was applied for by Raymond Patterson describing the above techniques along with a technique for placement of grout using a hollow stem auger and a removable plug or lead bit at the tip of the auger. The plug or lead bit was removed by grout pressure and this would be an expendable item for each pile placed. The patent was granted in 1956 and patent rights were assigned to Intrusion-Prepakt, Inc. Shortly thereafter other contractors were granted licenses to utilize the system. Patent coverage expired in 1973 and this method now is in the public domain. Today the method is in wide use throughout the world and is particularly well accepted in Japan and England.

Jan 1, 1988

By Ralph Spickermann

UK Seabed Resources (UKSR) signed a manganese nodule exploration contract with the International Seabed Authority on 8 February 2013 for a 58,000 km2 tract on the eastern edge of the Clarion Clipperton Zone (CCZ). UKSR is a private company based in the United Kingdom and established primarily to develop the commercial potential of the CCZ deposits. This is the first of many anticipated regulatory, market and technical milestones that are requisite for (1) environmentally responsible commercial scale production of nodule derived metals and (2) generation of revenue through their sale in the global commodities market. This presentation will describe the progress made to date in this effort and an industry-based perspective on the tasks and challenges that may lie ahead.

Sep 1, 2014

The main objectives of the Mine Mechanisation and Automation program (MMAP) are to enhance health and safety in underground mining operations, facilitate mechanization and automation in narrow-vein and deep mines, provide sound science to regulatory agencies and improve mine profitability. The program, which has a unique underground and surface industrial scale facility, is involved in many multi-partner projects, like hydrogen fuelcell applications, electrification and hydraulification of underground mines, reduction of noise and vibration, miner location device, explosive-free blasting and hoisting. The paper presents an overview of the Mine Mechanisation and Automation Program of Natural Resources Canada and some of the main projects.

Jan 1, 2002

By R. D. Begley

This paper will present detailed design drawings of a flexible single floor residential superstructure proposed for both longwall and room and pillar mining conditions. All efforts were made to provide an immediately available economical alter- native for future home builders on subsidence prone land. Based on this fact, a basement was not included in the design because additional costs and measures would be required to minimize cracking and leakage. A cost comparison with a traditional superstructure demonstrated that this would be a cost effective alternative. The criteria used to determine the design of the residential structure was as follows: 1. The appearance should not be different then a typical three bedroom residence; 2. Only commercially available devices and present architectural and engineering technology should be used to achieve the required "flexibility" of the super- structure; 3. The structure as completed would be capable of resisting a predetermined amount of vertical and horizontal movement; and 4. If the structure was to experience stresses beyond its capabilities, it could be easily removed from the foundation and releveled.

Jan 1, 1986

By A. M. Bryukhanov, A. G. Mnukhin

The report states accident rates for gassy/dusty coal mines represented as an ergatic system "man – machine - environment" with further analysis by the method of conditional probabilities. A coal mine has been analyzed with allowance for the attending personnel, equipment and environment as a sequence of events and states. Probabilities of operational states have been determined and prediction of mine behavior has been made on the basis of investigation findings for equipment and the personnel states, and analysis of the environment (i.e. mine and mining conditions). Utilization of expert estimation methods has been considered for determining major operational parameters of gassy/dusty mines. The importance of standardized values of permissible occupational risks (permissible probability of accident, PA) is demonstrated. It is also stated that a procedure is essential to determine these values, involving regular check-ups of the integral safety criterion at all mines and further development of customized recommendations for individual mines on efficient improvement of accident situations. Methodology to determine the assessment criteria has been developed and scientifically substantiated for permissible accident rates in hazardous industries.

Jan 1, 2003

By E. R. Cole

Laboratory heats of an 80 percent copper high-leaded tin-bronze alloy, similar to Brass and Bronze Ingot Institute (BBII) alloy 3A, were made with reduced tin content to determine whether an alloy comparable to BBII alloy 3A could be produced using less tin to aid in conserving this strategic metal. The tin content was lowered from 10 percent to 8 percent and 5 percent (nominal values), respectively, and the reduction in tin was offset by either increasing the lead content or adding zinc. Mechanical properties, machinability, and corrosion characteristics of the resultant alloys were investigated, and the mechanical properties were compared with BBII typical values and American Society for Testing Materials (ASTM) minimums for high-leaded tin-bronze alloy. Results indicate that the tin content of this alloy could be reduced approximately 1 percent (difference between the 8.4 percent actual tin composition obtained and the 9.3 percent BBII minimum) without seriously affecting the desired properties. Results also show the tin content could be reduced without significantly increasing the chances of rejects for mechanical property failures, which might result from normal variations in the casting process.

Jan 1, 1972

By D. Dimitriadis, T. Polglase, W. Phillips, R. Jenny, M. Botz

Cyanidation processes for the extraction of gold or silver frequently involve the processing of sulfur-containing solids which react with cyanide to form thiocyanate. The formation of thiocyanate is an undesired side-reaction, and in many cases thiocyanate formation results in a prohibitively high cyanide consumption. With the increasing number of gold and silver mining projects which involve the processing of sulfide ores or concentrates or which utilize a biological sulfur oxidation process, more attention has been focused on minimizing thiocyanate formation and in treating solutions to eliminate toxicity associated with thiocyanate. Though not yet commercially applied, there are several technologies available to recover cyanide from thiocyanate to both reduce tailings toxicity and allow the reuse of cyanide otherwise lost to thiocyanate formation. This paper presents an overview of technologies available for recovering cyanide from thiocyanate along with estimated operating costs for the technologies. Pilot testing data suggests that in some cases, cyanide can be recovered from thiocyanate for approximately the same cost as newly purchased cyanide.

Jan 1, 2000

By R. C. Burtan

Long before recorded history, man began to dig into the earth's crust in a never ending search for useful materials. It is well known that more than half of the earth's crust is composed of silicon dioxide (SiO2), also known as silica. Silica and silica-containing material have a great many uses in modern society. This material, however, is potentially an extreme health hazard. Silicosis: Not a New Disease Centuries before the Christian Era, Hippocrates wrote of a lung disease common to those who mined in hard rock. He was obviously describing silicosis. It is also apparent from ancient writings that the Egyptians were aware of this malady. Dioscorides also wrote on this subject in the fifth century B.C. It is undoubtedly the oldest and best studied of the occupational lung diseases. Silicosis was certainly described by Agricola in his De Re Metallica published in 1556. Here he described lung disease among hard-rock miners. The original document was written in Latin and then translated in 1912 by Hoover and Hoover. One of these translators was Herbert L. Hoover, a former US president who once made his living as a mining engineer. More recently, there are numerous references in medical literature in the 19th and 20th centuries relating silica exposure to silicosis. There are specific references to mining in hard rock, as well as to sandblasting and a host of other industrial exposures. In 1919, Winslow described standards for measuring the efficiency of exhaust systems in polishing shops using sandblasting. These standards were equally applicable in the mining industry. As early as 1920, Winslow explored the efficiency of certain devices used to protect sand-blasters against the dust hazard. These devices were equally applicable in the hard-rock mining industry. The medical community recognized the silica health hazard in the early 1900s. Middleton described the illness in the British Medical Journal in 1929. He noted the danger to health at that time. D. Hunter mentions in his book, The Diseases of Occupations (1969), the monumental work of Merryweather in 1936, in which he surveyed the silicosis risk in Great Britain. He showed statistically that the average employment length of sandblasters who ultimately died of silicosis was 10.3 years, compared to 40.1 years for all fatal cases, irrespective of occupation. Sandblasting and hard-rock mining and drilling, obviously, are very hazardous occupations. Weil and Zisking of Tulane University wrote in 1975 that "it was known as early as 1935 that the course of silicosis is much more rapid in sandblasters than in miners or foundry workers. This can be explained by the fact that sandblasters are exposed to an almost pure siliceous dust containing high concentrations of respirable particles within the range of 1 to 3 micron size." Protecting the Worker The medical community recognized in the early 1900s the need for proper protective equipment for all of those who worked with siliceous materials. Middleton, writing in 1929, said: "The worker is then protected by a close fitting helmet with an air feed, much as in the case of an underwater diver. In spite of these precautions, cases of silicosis among sandblasters are being met with today. It is a matter for serious consideration whether a substitute, such as steel or iron grit, could not be used to replace the siliceous grit as the abrading material." C. E. A. Winslow, a professor of public health at Yale School of Medicine, and others wrote of the need to protect sandblasters by

Jan 7, 1984

By B M. Wilson, B J. Turner, S Sinclair, R J. Buerger

The Trident Gold Deposit is centred on the historical Higginsville Mining Centre, between the world class gold centres of St Ives (+15 Moz) and Norseman (+6.5 Moz) in Western AustraliaÆs productive eastern goldfields. It lies towards the southern end of the Norseman-Wiluna Greenstone belt in the Archaean Yilgarn Craton. The current in situ resource for Trident is estimated at 840 000 ounces, with production to date in excess of 500 000 ounces.Trident is hosted primarily within a thick, weakly differentiated gabbro with subordinate mafic and ultramafic lithologies and comprises a series of north-northeast trending, shallowly north plunging ore zones. The deposit comprises two main mineralisation styles; thin, lode-style, nuggety laminated quartz veins (Athena and Artemis) that formed along major shear zones primarily at the contacts between the various mafic and ultramafic lithologies; and large wallrock-hosted ore-zones comprising sigmoidal quartz tensional vein arrays and associated metasomatic wall rock alteration (eastern zone, western zone and Apollo) hosted exclusively within the gabbro.The thin laminated quartz vein lodes are important to the Trident Gold Deposits production profile as they constitute 33 per cent of the metal from only 14 per cent of the tonnes. The delineation, grade estimation and extraction of these lodes require a disproportionate amount of geological and engineering input due to the small scale variability in width, grade and direction. Over time, a robust and thorough process has been developed at the Trident Gold Deposit to understand and then successfully mine these complex mineralised systems.CITATION:Sinclair, S, Wilson, B M, Buerger, R J and Turner, B J, 2012. The mining industry needs to be shaken and stirred, in Proceedings Narrow Vein Mining 2012 , pp 155-166 (The Australasian Institute of Mining and Metallurgy: Melbourne).

Mar 26, 2012

By M. Ounpuu

"Gold, because of low head grade and recovery, is usually of minor importance in the economics of base metal flotation mills. Because of the above little metallurgical attention is usually provided to gold in these mills. But collectively, the gold losses can be significant. For instance, Noranda presently has interest in 13 base metal flotation mills with a collective gold recovery of only 50%. Gold losses are in the order of 150.000 oz per year!The Noranda Technology Centre, in cooperation with Noranda's milling operations, has been investigating the potential of gravity concentration of gold from base metal flotation mills. This paper outlines the pilot and plant testing conducted at three operations with distinctly different ore types; porphyry copper, complex massive sulphide and polymetallic semi-massive sulphide. Testing has been with the Knelson Concentrator which has proven to successfully recover fine gold in a simple, trouble free circuit. Discussion of issues which have risen from the testwork is included. INTRODUCTIONGold, because of low head grade and recovery, is usually of minor importance in the economics of poly-metallic base metal ores. TABLE I presents gold heads and recovery for some of Noranda's base metal mills. It should be noted that the stated recoveries are to payable concentrates, but does not reflect the actual payable gold recovery which in cases is significantly lower. Noranda's average gold recovery into a gold payable concentrates is about 45%. This equates to a collective loss in the order of $57 MM per year of gold"

Jan 1, 1992

By Sang Ho Cho, Masaji Kato, Masaaki Yamamoto, Masaaki Nishi, Katsuhiko Kaneko

This paper presents a numerical simulation method to predict rock fragmentation and to verify a fracture mechanism by bench blasting. The rock fragmentation, which has been used as a means of the index to estimate the effect of bench blasting, affects the expenses for loading, conveyance and crushing of blasting muck piles. The developed numerical simulation method is based on the finite element method and fracture mechanics and includes the re-meshing procedure to express the fracture process of the rock mass. This paper discusses a procedure for a determination of size distributions of the results, which were calculated by numerical simulation, including the tines.

Jan 1, 2002

By Richard L. Fowler

[Study and development of sensing techniques and sensors were performed to aid shuttle car drivers in detecting, obstacles and in guiding the car along the face haulage route. Microwave, acoustic, and optical sensing techniques were considered as part of the feasibility study for obstacle detection. Various guidance techniques, including wire-following and rib-ranging were investigated. Active optical sensing was selected for obstacle detection to obtain the bear overage and sharp angular cutoff characteristics required within the packaging limitations defined by the shuttle car configuration. Rib-ranging guidance was selected to achieve completely self-contained shuttle car system which responds to the mine geometry without need for wires, stripes, or other path defining devices. Extensive hybrid computer simulation runs were performed to valuate various guidance techniques during the feasibility study. Subsequent simulation rues were performed to establish parameter values for the rib-ranging guidance system. The obstacle detection and guidance system was designed, fabricated and installed on a standard shuttle car. The system satisfied all applicable permissibility requirements of Schedule 2G. An experimental permit was issued to Bendix for operation in an underground coal mine. System evaluation tests were performed first above ground at the Bendix Research Laboratories. The simulation model was validated by these runs. Final testing wan performed underground in an operating mine with an experienced shuttle car driver. All sensors successfully demonstrated Chi predicted performance capability during underground face haulage tests. Dust did not Impair system performance and lens cleaning was not required during working shifts. Further development is required to achieve the desired obstacle detection performance Closed loop steering control with manual override is recommended o: mended for the lateral guidance e system. The guidance system should be an invaluable aid to low-coal shuttle car drivers where continuous mining machines are utilized.]

Jan 1, 1973